Image Restoration (Noise Removal)

Digital Image Processing
Image Restoration and Reconstruction

(Noise Removal)
Christophoros Nikou
cnikou@cs.uoi.gr
University of Ioannina - Department of Computer Science

2
Image Restoration and
Reconstruction
Things which we see are not by themselves what
we see
It remains completely unknown to us what the
objects may be by themselves and apart from the
receptivity of our senses. We know nothing but our
manner of perceiving them.
Immanuel Kant
C. Nikou Digital Image Processing (E12)

3 Contents
In this lecture we will look at image
restoration techniques used for noise removal
What is image restoration?
Noise and images
Noise models
Noise removal using spatial domain filtering
Noise removal using frequency domain
filtering

4 What is Image Restoration?
Image restoration attempts to restore
images that have been degraded
Identify the degradation process and attempt
to reverse it
Similar to image enhancement, but more
objective

5 Noise and Images
The sources of noise in digital
images arise during image
acquisition (digitization) and
transmission
Imaging sensors can be
affected by ambient
conditions
Interference can be added
to an image during
transmission

6 Noise Model
We can consider a noisy image to be
modelled as follows:
g ( x , y ) f ( x, y ) ( x , y )
where f(x, y) is the original image pixel,
(x, y) is the noise term and g(x, y) is the
resulting noisy pixel
If we can estimate the noise model we can
figure out how to restore the image
7 Noise Models (cont...)
There are many different
Images taken from Gonzalez & Woods, Digital Image Processing (2002)
Gaussian Rayleigh
models for the image
noise term (x, y):
Gaussian
Most common model Erlang Exponential
Rayleigh
Erlang (Gamma)
Exponential
Uniform
Uniform Impulse
Impulse
Salt and pepper noise

8 Noise Example
The test pattern to the right is
ideal for demonstrating the

addition of noise
The following slides will show
the result of adding noise Image
based on various models to
this image
Histogram to go here
C. Nikou Digital Image Processing (E12) Histogram

9 Noise Example (cont)
Gaussian Rayleigh Erlang

10 Noise Example (cont)
Histogram to go here
Exponential Uniform Impulse

11 Filtering to Remove Noise
We can use spatial filters of different kinds
to remove different kinds of noise
The arithmetic mean filter is a very simple
one and is calculated as follows:
f ( x, y) 1
g ( s, t )
mn ( s ,t )S xy
1/ 1/ 1/ This is implemented as the
9 9 9
1/ 1/ 1/
simple smoothing filter
9 9 9
It blurs the image.
1/ 1/ 1/
9 9 9
12 Other Means
There are different kinds of mean filters all of
which exhibit slightly different behaviour:
Geometric Mean
Harmonic Mean
Contraharmonic Mean

13 Other Means (cont)
Geometric Mean:
1
mn
f ( x, y ) g ( s, t )
( s ,t )S xy
Achieves similar smoothing to the arithmetic

mean, but tends to lose less image detail.

Harmonic Mean:
mn
f ( x, y )
1

( s ,t )S xy g ( s, t )
Works well for salt noise, but fails for pepper

noise.
Also does well for other kinds of noise such
as Gaussian noise.
Contraharmonic Mean:
g ( s, t )
( s ,t )S xy
Q 1
f ( x, y )
g ( s, t )
( s ,t )S xy
Q
Q is the order of the filter.

Positive values of Q eliminate pepper noise.
Negative values of Q eliminate salt noise.
It cannot eliminate both simultaneously.

16 Noise Removal Examples
Image
Original image corrupted
by Gaussian
noise
3x3
Geometric
3x3 Mean Filter
Arithmetic (less blurring
Mean Filter than AMF, the
image is
sharper)
17 Noise Removal Examples (cont)
Image corrupted by
pepper noise at 0.1
Filtering with a 3x3

Contraharmonic Filter
with Q=1.5

Image corrupted by
salt noise at 0.1
Filtering with a 3x3

Contraharmonic Filter
with Q=-1.5

19 Contraharmonic Filter: Here Be Dragons
Choosing the wrong value for Q when using

the contraharmonic filter can have drastic

results
Pepper noise filtered by Salt noise filtered by a

a 3x3 CF with Q=-1.5 3x3 CF with Q=1.5

20 Order Statistics Filters
Spatial filters based on ordering the pixel
values that make up the neighbourhood

defined by the filter support.
Useful spatial filters include

Median filter
Max and min filter
Midpoint filter
Alpha trimmed mean filter

21 Median Filter
Median Filter:
f ( x, y) median{g ( s, t )}
( s ,t )S xy
Excellent at noise removal, without the

smoothing effects that can occur with other
smoothing filters.
Particularly good when salt and pepper

noise is present.
22 Max and Min Filter
Max Filter:
f ( x, y) max {g ( s, t )}
( s ,t )S xy
Min Filter:
f ( x, y) min {g (s, t )}
( s ,t )S xy
Max filter is good for pepper noise and Min

filter is good for salt noise.

23 Midpoint Filter
Midpoint Filter:
f ( x, y ) 1 max {g ( s, t )} min {g ( s, t )}
2 ( s ,t )S xy ( s ,t )S xy
Good for random Gaussian and uniform

noise.

24 Alpha-Trimmed Mean Filter
Alpha-Trimmed Mean Filter:
1
f ( x, y )
mn d
g ( s, t )
( s ,t )S xy
r
We can delete the d/2 lowest and d/2 highest

grey levels.
So gr(s, t) represents the remaining mn d
pixels.
25 Noise Removal Examples
Image Result of 1
corrupted pass with a
by Salt And 3x3 Median
Pepper noise Filter
at 0.2
Result of 2 Result of 3
passes with passes with
a 3x3 Median a 3*3 Median
Filter Filter
Repeated passes remove the noise better but also blur the image
Image Image
corrupted corrupted
by Pepper by Salt
noise noise
Filtering Filtering
above above
with a 3x3 with a 3x3
Max Filter Min Filter

Image Image further
corrupted corrupted
by uniform by Salt and
noise Pepper noise
Filtering by a Filtering by a
5x5 Arithmetic 5x5 Geometric
Mean Filter Mean Filter
Filtering by a Filtering by a
5x5 Median 5x5 Alpha-Trimmed
Filter Mean Filter (d=5)

28 Adaptive Filters
The filters discussed so far are applied to an
entire image without any regard for how
image characteristics vary from one point to
another.
The behaviour of adaptive filters changes
depending on the characteristics of the
image inside the filter region.
We will take a look at the adaptive median
filter.

29 Adaptive Median Filtering
The median filter performs relatively well on
impulse noise as long as the spatial density
of the impulse noise is not large.
The adaptive median filter can handle much

more spatially dense impulse noise, and
also performs some smoothing for non-
impulse noise.

30 Adaptive Median Filtering (cont)
The key to understanding the algorithm is to
remember that the adaptive median filter
has three purposes:
Remove impulse noise
Provide smoothing of other noise
Reduce distortion (excessive thinning or
thickenning of object boundaries).

In the adaptive median filter, the filter size
changes depending on the characteristics of the
image.
Notation:
Sxy = the support of the filter centerd at (x, y)
zmin = minimum grey level in Sxy
zmax = maximum grey level in Sxy
zmed = median of grey levels in Sxy
zxy = grey level at coordinates (x, y)
Smax =maximum allowed size of Sxy
Stage A: A1 = zmed zmin
A2 = zmed zmax
If A1 > 0 and A2 < 0, Go to stage B
Else increase the window size
If window size Smax repeat stage A
Else output zmed
Stage B: B1 = zxy zmin

B2 = zxy zmax
If B1 > 0 and B2 < 0, output zxy
Else output zmed
Stage A: A1 = zmed zmin
A2 = zmed zmax
If A1 > 0 and A2 < 0, Go to stage B
Else increase the window size
If window size Smax repeat stage A
Else output zmed
Stage A determines if the output of the median filter zmed is an
impulse or not (black or white).
If it is not an impulse, we go to stage B.
If it is an impulse the window size is increased until it reaches
Smax or zmed is not an impulse.
Note that there is no guarantee that zmed will not be an impulse.
The smaller the the density of the noise is, and, the larger the
support Smax, we expect not to have an impulse.
Stage B: B1 = zxy zmin
B2 = zxy zmax
If B1 > 0 and B2 < 0, output zxy
Else output zmed
Stage B determines if the pixel value at (x, y), that is zxy,

is an impulse or not (black or white).
If it is not an impulse, the algorithm outputs the
unchanged pixel value zxy .
If it is an impulse the algorithm outputs the median zmed .

35 Adaptive Filtering Example
Image corrupted by salt Result of filtering with a Result of adaptive

and pepper noise with 7x7 median filter median filtering with
probabilities Pa = Pb=0.25 Smax = 7
AMF preserves sharpness and details, e.g. the connector fingers.

36 Periodic Noise
Typically arises due to
electrical or electromagnetic
interference.
Gives rise to regular noise
patterns in an image.
Frequency domain
techniques in the Fourier
domain are most effective
at removing periodic noise.

37 Band Reject Filters
Removing periodic noise form an image
involves removing a particular range of
frequencies from that image.
Band reject filters can be used for this purpose
An ideal band reject filter is given as follows:
W
1 if D(u, v) D0 2
W W
H (u, v) 0 if D0 D(u, v) D0
2 2
1 if D(u, v) D0 W
2
38 Band Reject Filters (cont)
The ideal band reject filter is shown below,
along with Butterworth and Gaussian

versions of the filter
Ideal Band Butterworth Gaussian

Reject Filter Band Reject Band Reject
Filter (of order 1) Filter

39 Band Reject Filter Example
Image corrupted by Fourier spectrum of
sinusoidal noise corrupted image
Butterworth band Filtered image

reject filter

Image Restoration (Noise Removal)

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Digital Image Processing

Image Restoration and Reconstruction

University of Ioannina - Department of Computer Science

C. Nikou Digital Image Processing (E12)

C. Nikou Digital Image Processing (E12)

C. Nikou Digital Image Processing (E12)

C. Nikou Digital Image Processing (E12)

C. Nikou Digital Image Processing (E12)

ideal for demonstrating the

C. Nikou Digital Image Processing (E12) Histogram

Gaussian Rayleigh Erlang

Exponential Uniform Impulse

C. Nikou Digital Image Processing (E12)

Achieves similar smoothing to the arithmetic

C. Nikou Digital Image Processing (E12)

Works well for salt noise, but fails for pepper

Q is the order of the filter.

C. Nikou Digital Image Processing (E12)

Filtering with a 3x3

C. Nikou Digital Image Processing (E12)

Filtering with a 3x3

C. Nikou Digital Image Processing (E12)

Choosing the wrong value for Q when using

the contraharmonic filter can have drastic

Pepper noise filtered by Salt noise filtered by a

C. Nikou Digital Image Processing (E12)

values that make up the neighbourhood

Useful spatial filters include

C. Nikou Digital Image Processing (E12)

Excellent at noise removal, without the

Particularly good when salt and pepper

Max filter is good for pepper noise and Min

C. Nikou Digital Image Processing (E12)

Good for random Gaussian and uniform

C. Nikou Digital Image Processing (E12)

We can delete the d/2 lowest and d/2 highest

C. Nikou Digital Image Processing (E12)

C. Nikou Digital Image Processing (E12)

C. Nikou Digital Image Processing (E12)

The adaptive median filter can handle much

C. Nikou Digital Image Processing (E12)

C. Nikou Digital Image Processing (E12)

Stage B: B1 = zxy zmin

Stage B determines if the pixel value at (x, y), that is zxy,

C. Nikou Digital Image Processing (E12)

Image corrupted by salt Result of filtering with a Result of adaptive

AMF preserves sharpness and details, e.g. the connector fingers.

C. Nikou Digital Image Processing (E12)

along with Butterworth and Gaussian

Ideal Band Butterworth Gaussian

C. Nikou Digital Image Processing (E12)

sinusoidal noise corrupted image

Butterworth band Filtered image

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